Related papers: Robust Fuel-Optimal Landing Guidance for Hazardous…
This work presents a Physics-Informed Indirect Method (PIIM) that propagates the dynamics of both states and co-states backward in time for trajectory optimization problems. In the case of a Time-Optimal Soft Landing Problem (TOSLP), based…
This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…
While Vision-Language Models (VLMs) enable high-level semantic reasoning for end-to-end autonomous driving, particularly in unstructured environments, existing off-road datasets suffer from language annotations that are weakly aligned with…
Autonomous landing in cluttered or unstructured environments remains a safety-critical challenge for unmanned aerial vehicles (UAVs), particularly under noisy perception caused by sensor uncertainty and platform-induced disturbances such as…
Powered descent guidance (PDG) problems subject to six-degrees-of-freedom (6DOF) dynamics allow for enforcement of practical attitude constraints. However, numerical solutions to 6DOF PDG problems are challenging due to fast rotational…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
This paper presents a novel algorithm, based on model predictive control (MPC), for the optimal guidance of a launch vehicle upper stage. The proposed strategy not only maximizes the performance of the vehicle and its robustness to external…
Monocular optical flow has been widely used to detect obstacles in Micro Air Vehicles (MAVs) during visual navigation. However, this approach requires significant movement, which reduces the efficiency of navigation and may even introduce…
Robotic exploration or monitoring missions require mobile robots to autonomously and safely navigate between multiple target locations in potentially challenging environments. Currently, this type of multi-goal mission often relies on…
A robust Multimodal Large Language Model (MLLM) for Earth Observation should maintain consistent interpretation and reasoning under realistic input variations. However, current Remote Sensing MLLMs fail to meet this requirement. Trained on…
Autonomous vehicles necessitate a delicate balance between safety, efficiency, and user preferences in trajectory planning. Existing traditional or learning-based methods face challenges in adequately addressing all these aspects. In…
With the growing demand for efficient logistics, unmanned aerial vehicles (UAVs) are increasingly being paired with automated guided vehicles (AGVs). While UAVs offer the ability to navigate through dense environments and varying altitudes,…
This paper presents a hierarchical longitudinal control architecture for autonomous truck platoons that jointly addresses safety, string stability, and economic efficiency. The framework integrates a high-rate safety projection filter, a…
Unbalanced Optimal Transport (UOT) has emerged as a robust relaxation of standard Optimal Transport, particularly effective for handling outliers and mass variations. However, scalable algorithms for UOT, specifically those based on…
Autonomous landing on sloped terrain poses significant challenges for small, lightweight spacecraft, such as rotorcraft and landers. These vehicles have limited processing capability and payload capacity, which makes advanced deep learning…
We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by aggressive motions. Field robotics expose robots to various…
Safe and efficient multi-agent navigation in dynamic environments remains inherently challenging, particularly when real-time decision-making is required on resource-constrained platforms. Ensuring collision-free trajectories while adapting…
In this paper, we consider a trajectory planning problem arising from a lunar vertical landing with minimum fuel consumption. The vertical landing requirement is written as a final steering angle constraint, and a nonnegative regularization…
We develop an integrated guidance and control system that in conjunction with a stabilized seeker and landing site detection software can achieve precise and safe planetary landing. The seeker tracks the designated landing site by adjusting…
Future Mars missions will require advanced guidance, navigation, and control algorithms for the powered descent phase to target specific surface locations and achieve pinpoint accuracy (landing error ellipse $<$ 5 m radius). The latter…